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The high cost of the reliability test for underwater vehicle launch prompts the numerical simulation method which has become a mainstream in the process of equipment development. In this paper, the author integrated the simulation results of underwater vehicle failure mechanism with the calculation of mission reliability of underwater vehicle launch through the model research of underwater vehicle...
This paper presents a vision-based Leader-Follower cooperative scheme which consists of two underwater vehicles in the absence of explicit communications and direct information interchange. A novel method for implicitly calculating the relative pose between the two vehicles is introduced. The absolute and relative localization algorithm is solely based on the observation of visual features projected...
The HippoCampus platform is a low-cost micro autonomous underwater vehicle for swarm robotics research. This paper presents the hardware and software design, the communication link, instrumentation, and control system. The quadrotor design enables the vehicle to perform agile maneuvers in a very confined test tank. Vehicle navigation is based on the on-board sensor suite. Autonomous path following...
This paper introduces an adaptive tuning method for the controllers of a 4 degrees-of-freedom autonomous underwater vehicle. The proposed scheme consists of two control loops, one for position control and an inner one for velocity control. The gains of the controller are determined on-line, according to the position/velocity errors. Using the proposed adaptive architecture, the uncertainties in the...
Supervision and control of Autonomous underwater vehicles (AUVs) has traditionally been focused on an operator determining a priori the sequence of waypoints of a single vehicle for a mission. As AUVs become more ubiquitous as a scientific tool, we envision the need for controlling multiple vehicles which would impose less cognitive burden on the operator with a more abstract form of human-in-the-loop...
This paper mainly deals with the maneuverability capabilities of the propeller-fin-driven underwater vehicle. The nonlinear dynamic model is firstly set up, numerical simulations of kinematic behaviors in the horizontal plane, vertical plane and three-dimensional space are performed respectively to verify the nonlinear dynamic model. Then, Z-shaped steering method with a positive and identical negative...
UNEXAR is a mini autonomous underwater robot in a cubic shape similar to a drone. This robot can be used to monitor local environment and observe an object below much more closely than otherwise needing us to wear underwater suit which is bothersome. It can also be used as an exploration device, to map unreachable area somewhere that's not in our line of sight. Robot can also be used to find an object...
This paper considers a path planning problem with two marsupial vehicles (one carrier vehicle and one passenger vehicle that is deployed by the carrier vehicle) exploring a planar area. This work is motivated by multi-agent intelligence, surveillance, and reconnaissance missions in contested environments. The vehicles are heterogeneous, e.g., the carrier vehicle is faster than the passenger vehicle...
In this paper, partial kernel principal component analysis (PKPCA) is studied for sensor fault detection and isolation (FDI) of an autonomous underwater vehicle (AUV). Principal component analysis (PCA) is an effective health monitoring tool which can achieve acceptable results only for linear processes. In the case of nonlinear systems such as autonomous underwater vehicles, kernel PCA approach can...
The Singapore Autonomous Underwater Vehicle Challenge, dubbed as SAUVC, is an effort by the IEEE Oceanic Engineering Society Singapore Chapter to engage and expose the tertiary students to the challenges of AUV design. The programme was started in 2013 and was originally intended to create awareness among the local students on the importance of underwater robotics and its relevance to Singapore. However,...
The tragic Deepwater Horizon accident in the Gulf of Mexico in 2010 as well as the increase in deepwater offshore activity have increased public interest in counter-measures available for sub-surface releases of hydrocarbons. To arrive at proper contingency planning, response managers urge for a system for instant detection and characterization of accidental releases. Along these lines, this paper...
National Institute of Ocean Technology (NIOT), under the Ministry of Earth Sciences, along with IEEE OES and OSIs, conducts a national-level competition for students pursuing engineering degree to visualize and design an autonomous underwater vehicle. The conceptual basis for Student Autonomous underwater Vehicle (SAVe) is a highly mobile autonomous underwater vehicle (AUV) to be built based on engineering...
The present paper proposes a study for the integration of a hybrid power system composed by rechargeable batteries and fuel cells with chemical gas storages for an Autonomous Underwater Vehicle (AUV) or Unmanned Undersea Vehicles (UUV). AUVs and UUVs are vehicles that are primarily used to accomplish oceanographic research data collection and auxiliary offshore tasks. At the present time they are...
The paper describes the Rapid Environmental Picture Atlantic exercise 2014 (REP14-Atlantic), with special focus on the experiments with autonomous underwater, surface and air vehicles, and discusses how large scale experimentation in operational environments is contributing to advancing the state of the art in networked vehicle systems. REP14-Atlantic was also focused on collaborative experimentation...
Acoustic signal is one of the most important sensor data for autonomous navigation of underwater vehicles. Underwater vehicles can navigate autonomously by localizing underwater acoustic sources. This paper presents a method of source localization for multiple underwater acoustic sources. The proposed method extracts and identifies target acoustic signals using frequency bands of each source. Then,...
This work reports the experience gathered along 6 years in developing a team-based project activity to promote engineering programs among secondary school students. The aim of the activity is to increase the interest of students for science and technology in general, but also to promote engineering skills, capabilities and values, leading to attract more secondary school students to enrolment for...
CMRE has been evaluating the potential of autonomous networked ASW using underwater vehicles through a program of sonar signal processing, underwater communications, navigation and robotic behavior developments and at-sea decision support tested through an ambitious seagoing experimental program and demonstrated during NATO ASW exercises. In this paper the various scientific aspects of the program...
This article summarizes the experience of the NATO Science and Technology Organization (STO) Centre for Maritime Research and Experimentation (CMRE) in the organization of the Student Autonomous Underwater Vehicle Challenge-Europe (SAUC-E) and euRathlon 2014 competitions. SAUC-E (http://sauc-europe.org/) started in 2006 in the UK and has been hosted by CMRE in La Spezia, Italy, since 2010. Each year...
MARTA (MARine Tool for Archaeology) is a modular AUV (Autonomous Underwater Vehicle) designed and developed by the University of Florence in the framework of the ARROWS (ARchaeological RObot systems for the World's Seas) FP7 European project. The ARROWS project challenge is to provide the underwater archaeologists with technological tools for cost affordable campaigns: i.e. ARROWS adapts and develops...
This paper summarizes the main accomplishments of the first year of the FP7 project “CADDY — Cognitive Autonomous Diving Buddy”. The main objective of the project is to replace a human buddy diver with an autonomous underwater vehicle and add an autonomous surface vehicle to improve monitoring, assistance, and safety of the diver's mission. While all envisioned objectives of the project are listed,...
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